Nonlinear vehicle side-slip estimation with friction adaptation

A nonlinear observer for estimation of the longitudinal velocity, lateral velocity, and yaw rate of a vehicle, designed for the purpose of vehicle side-slip estimation, is modified and extended in order to work for different road surface conditions. The observer relies on a road-tire friction model and is therefore sensitive to changes in the adhesion characteristics of the road surface. The friction model is parametrized with a single friction parameter, and an update law is designed. The adaptive observer is proven to be uniformly globally asymptotically stable and uniformly locally exponentially stable under a persistency-of-excitation condition and a set of technical assumptions, using results related to Matrosov's theorem. The observer is tested on recorded data from two test vehicles and shows good results on a range of road surfaces.     

A theorem for UGAS and ULES of (passive) nonautonomous systems: robust control of mechanical systems and ships

The main contribution of this paper is a theorem to guarantee uniform global asymptotic stability (UGAS) and uniform local exponential stability (ULES) for a class of nonlinear non‐autonomous systems which includes passive systems. These properties (and a uniform local Lipschitz condition) guarantee robustness of stability while weaker properties, like uniform global stability plus global convergence, do not. Our main result is then used in the tracking control problem of mechanical systems and ships. We use an adaptive backstepping design and prove UGAS of the closed‐loop tracking error system, in particular, we obtain that both the tracking and parameter estimation errors converge uniformly globally to zero. Copyright © 2001 John Wiley & Sons, Ltd.     

Global output tracking control of a class of Euler-Lagrange systems with monotonic non-linearities in the velocities

In this paper, we address the problem of output feedback tracking control of a class of Euler-Lagrange systems subject to non-linear dissipative loads. By imposing a monotone damping condition on the non-linearities of the unmeasured states, the common restriction that the non-linearities be globally Lipschitz is removed. The proposed observer-controller scheme renders the origin of the error dynamics uniformly globally asymptotically stable, in the general case. Under certain additional assumptions, the result continue to hold for a simplified control law that is less sensitive to noise and unmodelled phenomena.     

On non-linear unknown input observers–applied to lateral vehicle velocity estimation on banked roads

Unknown input observers (UIOs) are observers that have stable error dynamics that are independent of unknown inputs. This paper studies such observers for non-linear systems, and shows that the error dynamics for a non-linear UIO has the same structure as the error dynamics of a non-linear observer without unknown inputs. This result is first used to provide synthesis inequalities for UIOs for a class of non-linear systems, and secondly, to inspire the design of an observer for estimation of vehicle lateral velocity on banked roads.     

Methods for phosphate addition in heavy salted cod (Gadus morhua L.)

Headed and gutted fresh or frozen and thawed cod (Gadus morhua L.) from the same net catch were hand filleted post rigor before carrying out small-scale salting trials. Fillets were heavy salted using three different methods introducing phosphate during injection, brining, or during pickle salting. For all salting methods, treatment with 0, 4.5, 9 or 18 g/L of the pyro and tri polyphosphate blend Carnal 2110 was carried out. Quality and chemical parameters were analyzed after 5 weeks and 6 ± 1 months of chilled storage of heavy salted fillets.     

Genetic Programming for the Automatic Design of Controllers for a Surface Ship

In this paper, the implementation of genetic programming (GP) to design a controller structure is assessed. GP is used to evolve control strategies that, given the current and desired state of the propulsion and heading dynamics of a supply ship as inputs, generate the commanded forces required to maneuver the ship. The controllers created using GP are evaluated through computer simulations and real maneuverability tests in a laboratory water basin facility. The robustness of each controller is analyzed through the simulation of environmental disturbances. In addition, GP runs in the presence of disturbances are carried out so that the different controllers obtained can be compared. The particular vessel used in this paper is a scale model of a supply ship called CyberShip II. The results obtained illustrate the benefits of using GP for the automatic design of propulsion and navigation controllers for surface ships.     

The eXogenous Kalman Filter (XKF)

It is well known that the time-varying Kalman Filter (KF) is globally exponentially stable and optimal in the sense of minimum variance under some conditions. However, nonlinear approximations such as the extended KF linearises the system about the estimated state trajectories, leading in general to loss of both global stability and optimality. Nonlinear observers tend to have strong, often global, stability properties. They are, however, often designed without optimality objectives considering the presence of unknown measurement errors and process disturbances. We study the cascade of a global nonlinear observer with the linearised KF, where the estimate from the nonlinear observer is an exogenous signal only used for generating a linearised model to the KF. It is shown that the two-stage nonlinear estimator inherits the global stability property of the nonlinear observer, and simulations indicate that local optimality properties similar to a perfectly linearised KF can be achieved. This two-stage estimator is called an eXogeneous KF (XKF).     

A passive output feedback controller with wave filter for marine vehicles

An output feedback controller with a wave filter for regulation of nonlinear marine vehicles is derived. Only measurements of position and attitude are needed. Asymptotic stability for the position and attitude around the desired values, and the velocity about zero is proven by applying Lyapunov stability analysis. Even though the wave filter in this paper has a notch filter structure, it is incorporated in the controller such that the system from the vehicle's velocity to the control input is passive. This is opposed to conventional notch filters which are usually designed separately from the controller itself, possibly complicating the stability analysis. Finally, a simulation study of a ship illustrates the design procedure of the controller. © 1998 John Wiley & Sons, Ltd.     

变形带及其对流体流动的影响

变形带表现为多孔砂岩中的一种普遍的局部应变类型，并以单一构造、带束（簇）和断层损伤带的形式出现。变形带的渗透率可降低0～6个数量级，因此可能影响流体流动。本文通过数学模型来揭示这一现象：对于变形带来说，在渗透率差异较高和（或）异常带较集中的情况下，明显影响生产速率。同样，野外观测揭示：沿着变形带和变形区域的孔隙度和渗透率迅速变化。另外，在野外所见的古流体剖面绝大部分没有受到或者仅仅部分受到变形带的影响。计算结果及野外观测结果综合表明：大多数情况下，在储层生产过程中，变形带的作用很小或者几乎可以忽略。由断裂作用和复杂断层解剖引起的结构混杂更容易形成除地层和动力学效应之外的生产问题。然而，变形带的排列及方向可能对流动类型及储层驱替有影响。当变形带引起生产问题时，可利用水力压裂的办法解决。     

Robust output maneuvering for a class of nonlinear systems

The output maneuvering problem involves two tasks. The first, called the geometric task, is to force the system output to converge to a desired path parametrized by a continuous scalar variable θ. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the path. This dynamic behavior is further specified via a time, speed, or acceleration assignment. While the main concern is to satisfy the geometric task, the dynamic task ensures that the system output follows the path with the desired speed. A robust recursive design technique is developed for uncertain nonlinear plants in vectorial strict feedback form. First the geometric part of the problem is solved. Then an update law is constructed that bridges the geometric design with the speed assignment. The design procedure is illustrated through several examples.